function MoveArm(angle_1, angle_2, angle_3, speed)

    tic
    
    % addpath('C:\Users\Pulith Widana\Documents\MATLAB\Dynamixel-AX12-Matlab');
    % addpath('C:\Users\Pulith Widana\Documents\MATLAB\Dynamixel-AX12-Matlab\import');
    % addpath('C:\Users\Pulith Widana\Documents\MATLAB\Dynamixel-AX12-Matlab\bin');
    
    %Load the dynamixel library
    loadlibrary('dynamixel','dynamixel.h');

    delta_1 = angle_1*(1023/300);
    delta_2 = angle_2*(1023/300);
    delta_3 = angle_3*(1023/300);
    
    currentPosition_1 = ServoPosition(1);
    currentPosition_2 = ServoPosition(2);
    currentPosition_3 = ServoPosition(3);
    
    newPosition_1 = currentPosition_1 + delta_1;
    newPosition_2 = currentPosition_2 + delta_2;
    newPosition_3 = currentPosition_3 + delta_3;
    
    
    
    MoveAllServos(newPosition_1, newPosition_2, newPosition_3, speed);
    
    unloadlibrary('dynamixel');
    toc
    
    
    
    
    
    